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isr-aloha-act-ckpts
Kavin60606/isr-aloha-act-ckpts
isr-aloha-act-ckpts is a robotics model from Kavin60606. Use it for the robotics task on the model card, and read the license before you ship it in a product. It is set up for lerobot. The card lists the license as apache-2.0.
LeRobot ACT pretrainedmodel folders, one per <job/<step. Jobs: alohatransfercube{raw,uni3,isr,isrlam0,isrk6} (seed 1000, steps 020000/040000/060000) and s2000 (seed 2000, 020000/040000). Datasets are in degrees — at e…
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Updated Sep 16, 2026
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At a glance
- Task
- Robotics
- Library
- lerobot
- License
- apache-2.0
- Access
- Public
- Created
- Sep 12, 2026
- Updated
- Sep 16, 2026
- SHA
- 9a5ebc21
Model card
From the Hugging Face model README
ACT checkpoints — ISR vs uniform vs full data on ALOHA transfer-cube (human demos)
LeRobot ACT pretrained_model folders, one per <job>/<step>. Jobs: aloha_transfer_cube_{raw,uni3,isr,isr_lam0,isr_k6} (seed 1000, steps 020000/040000/060000) and *_s2000 (seed 2000, 020000/040000).
Datasets are in degrees — at eval convert actions deg→rad and observations rad→deg (see sitecustomize.py in the experiment repo), and rate-match playback for compressed arms (action-repeat 2 for isr/isr_lam0, 3 for uni3/isr_k6).
Results, data, code: Kavin60606/isr-aloha-transfer-cube-experiment.
- Task
- Robotics
- Library
- lerobot
- License
- apache-2.0
- Created
- Sep 12, 2026
- Updated
- Sep 16, 2026